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Prescod's win, edging out Dasaolu by 0.02 seconds with 10.09, means Chijindu Ujah or Adam Gemili will miss out when three picks are announced on 11 July.
Asha Philip won the women's 100m in 11.21, with Dina Asher-Smith sixth and now a doubt for August's championships.
Ex-Olympic champion Christine Ohuruogu was eliminated in the 400m heats.
Ohuruogu's failure was the first moment of drama on a day where guaranteed places were up for grabs at London's World Championships, beginning on 4 August.
To secure their place, athletes had to finish in the top two in the final of their discipline and must have also achieved a qualifying time.
Dasaolu, 29, and Prescod, 21, both already had the necessary time but the latter burst through in the closing 40 metres of the final to take the biggest win of his career.
"I can't believe it," said Prescod. "It's such a blessing. I can't describe how happy I am. The last year has been a real struggle for me but now I can focus on the World Championships."
Ujah withdrew from the final with cramp, meaning either he, Gemili or Nethaneel Mitchell-Blake - who all hold the qualifying time - will need the nod from selectors to be part of Britain's 100m team.
Ujah is the third-fastest sprinter in British history, Mitchell-Blake has the quickest time of 2017 and Gemili has major championship experience, including a fourth-place finish in the 200m at the 2016 Olympic Games.
"Ujah went flat out in the semi-final which he didn't need to do," said BBC Sport pundit Colin Jackson. "Let's hope it's not serious for him."
Commentator Steve Cram added: "That leaves the selectors with a little bit of a headache, who are they going to have to fill that third spot?"
Two-time world champion Ohuruogu boasts the quickest 400m time in British history, set in 2013, but she was third in her heat and will not contest Sunday's final.
Afterwards, the 33-year-old said she would be available for the 4x400m relay at the World Championships if needed but her time at Birmingham's Alexander Stadium was only 13th fastest across the four heats.
She could run the World Championship qualifying time in the next week but her best effort in 2017 is outside the top 10 in the country and it therefore looks highly likely she will miss out.
Perri Shakes-Drayton, who has raced just eight times since damaging her knee at the 2013 World Championships, impressed in the 400m heats, winning in 53.02.
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Asher-Smith - European champion and the fastest British female sprinter of all time - raced outdoors for the first time this year having recently recovered from a broken foot.
But she was left trailing as Philip won her fourth British title, benefiting from a good start to hold off 20-year-old Daryll Neita, who clocked 11.25 despite being slow from the blocks.
The pair are both guaranteed a place at the Worlds, while Asher-Smith, who was visibly emotional after the race, will now likely focus on the 200m.
The 21-year-old said: "I have been training for three weeks so I am so happy - everyone said I was not going to be able to run at all in 2017 but I thought, I just can't let that happen because it is a World Championships. The London dream is definitely back alive."
BBC 5 live pundit Darren Campbell said: "The third spot selectors can keep open. The fastest 100m runner out of our women this year is Desiree Henry and she has not competed in this race and has already got the qualifying time. I don't think they can justify picking Dina Asher-Smith."
Mo Farah - who will seek to defend his 5,000m and 10,000m titles in London - and long jumper Greg Rutherford will be part of the British team courtesy of their status as world champions.
Farah will be joined by Andrew Butchart in the 5,000m after the Scot secured a win in Birmingham, where 20-year-old Morgan Lake produced a lifetime best mark of 1.96m in the high jump to qualify.
Laura Muir is already assured of a place having won the overall 1500m Diamond League title last year, while Katarina Johnson-Thompson has already reached the heptathlon qualifying mark, as has Ashley Bryant in the decathlon.
Steeplechaser Rob Mullett won his third British title ahead of Zak Seddon as both men made the team.
European indoor champion Andrew Pozzi - who was exempted from the trials - was instead competing in the 110m hurdles at the Diamond League meeting in Paris on Saturday night and set a new personal best of 13.14 seconds to claim second place.
British Athletics selectors face a World Championship dilemma after Reece Prescod and James Dasaolu secured 100m places at the team trials.

In the first incident on Monday, masked gunmen killed at least five people in the town of Dalwah, a Shia Muslim area in eastern Saudi Arabia.
On Tuesday in a shootout believed to be linked to that attack, two suspected militants and two Saudi policemen were killed in Buraida, north of Riyadh.
Shias, who make up less than 15% of the Sunni-majority nation, are currently marking the festival of Ashura.
It commemorates the death of a grandson of the Prophet Muhammad.
Monday's attack was in Dalwah in Ahsa district, one of the centres for Shia Muslims.
At least three attackers fired machineguns and pistols at a crowd that was leaving a building where ceremonies had been taking place, police said.
At least 15 people have been arrested in connection with the shooting.
One resident of Eastern Province, Nasima al-Sada, told Agence France-Presse: "It's very surprising because it's the first time. We are shocked."
Saudi Arabia's supreme council of Sunni clerics condemned the attack, saying: "The enemies of our religion and our homeland aim to attack our unity and stability."
There were few details of the second gun battle.
The Saudi Press Agency said that in addition to the dead, two security officers were wounded.
The interior ministry said the gun battle began when officers tried to arrest suspects believed to be involved in Monday's incident.
Shia Muslims have long complained of marginalisation by the Sunni royal family, with the Eastern Province, where most of the country's Shia live, seeing a spate of protests in the wake of the Arab Spring.
The Saudi government denies allegations of discrimination and blames Iran for stirring up discontent.
At least nine people have died in two separate gun battles in Saudi Arabia.

Long before the conflict began, many Syrians complained about high unemployment, widespread corruption, a lack of political freedom and state repression under President Bashar al-Assad, who succeeded his father, Hafez, in 2000.
In March 2011, pro-democracy demonstrations inspired by the Arab Spring erupted in the southern city of Deraa. The government's use of deadly force to crush the dissent soon triggered nationwide protests demanding the president's resignation.
As the unrest spread, the crackdown intensified. Opposition supporters began to take up arms, first to defend themselves and later to expel security forces from their local areas. Mr Assad vowed to crush "foreign-backed terrorism" and restore state control.
The violence rapidly escalated and the country descended into civil war as hundreds of rebel brigades were formed to battle government forces for control of the country.
In essence, it has become more than just a battle between those for or against Mr Assad.
A key factor has been the intervention of regional and world powers, including Iran, Russia, Saudi Arabia and the United States. Their military, financial and political support for the government and opposition has contributed directly to the intensification and continuation of the fighting, and turned Syria into a proxy battleground.
External powers have also been accused of fostering sectarianism in what was a broadly secular state, pitching the country's Sunni majority against the president's Shia Alawite sect. Such divisions have encouraged both sides to commit atrocities that have not only caused loss of life but also torn apart communities, hardened positions and dimmed hopes for a political settlement.
Jihadist groups have also seized on the divisions, and their rise has added a further dimension to the war. Jabhat Fateh al-Sham, which was known as al-Nusra Front until it announced it was breaking off formal ties with al-Qaeda in July 2016, is part of a powerful rebel alliance that controls much of the north-western province of Idlib.
Meanwhile, so-called Islamic State (IS), which controls large swathes of northern and eastern Syria, is battling government forces, rebel brigades and Kurdish groups, as well as facing air strikes by Russia and a US-led multinational coalition.
Thousands of Shia militiamen from Iran, Lebanon, Iraq, Afghanistan and Yemen say they are fighting alongside the Syrian army to protect holy sites.
Russia, for whom President Assad's survival is critical to maintaining its interests in Syria, launched an air campaign in September 2015 with the aim of "stabilising" the government after a series of defeats. Moscow stressed that it would target only "terrorists", but activists said its strikes mainly hit Western-backed rebel groups.
Six months later, having turned the tide of the war in his ally's favour, President Vladimir Putin ordered the "main part" of Russia's forces to withdraw, saying their mission had "on the whole" been accomplished. However, intense Russian air and missile strikes went on to play a major role in the government's siege of rebel-held eastern Aleppo, which fell in December 2016.
Shia power Iran is believed to be spending billions of dollars a year to bolster the Alawite-dominated government, providing military advisers and subsidised weapons, as well as lines of credit and oil transfers. It is also widely reported to have deployed hundreds of combat troops in Syria.
Mr Assad is Iran's closest Arab ally and Syria is the main transit point for Iranian weapons shipments to the Lebanese Shia Islamist movement Hezbollah, which has sent thousands of fighters to support government forces.
The US, which says President Assad is responsible for widespread atrocities and must step down, has provided only limited military assistance to "moderate" rebels, fearful that advanced weapons might end up in the hands of jihadists. Since September 2014, the US has conducted air strikes on IS in Syria, but it has not intentionally attacked government forces.
Sunni-ruled Saudi Arabia, which is seeking to counter the influence of its rival Iran, has been a major provider of military and financial assistance to the rebels, including those with Islamist ideologies.
Turkey is another staunch supporter of the rebels, but it has also sought to contain US-backed Kurdish Popular Protection Units (YPG) fighters who are battling IS in northern Syria, accusing the YPG of being an extension of the banned Turkish Kurdistan Workers' Party (PKK).
In August 2016, Turkish troops backed a rebel offensive to drive IS militants out of one of the last remaining stretches of the Syrian side of the border not controlled by the Kurds.
The UN says at least 250,000 people have been killed in the past five years. However, the organisation stopped updating its figures in August 2015. The Syrian Observatory for Human Rights, a UK-based monitoring group, put the death toll at 310,000 in December 2016, while a think-tank estimated in February 2016 that the conflict had caused 470,000 deaths, either directly or indirectly.
More than 4.8 million people - most of them women and children - have fled Syria. Neighbouring Lebanon, Jordan and Turkey have struggled to cope with one of the largest refugee exoduses in recent history.
About 10% of Syrian refugees have sought safety in Europe, sowing political divisions as countries argue over sharing the burden. A further 6.3 million people are internally displaced inside Syria.
The UN estimates it will need $3.4bn (Â£2.7bn) to help the 13.5 million people who will require some form of humanitarian assistance inside Syria in 2017. More than 7 million people are affected by food insecurity and 1.75 million children are out of school.
The warring parties have compounded the problems by refusing humanitarian agencies access to many of those in need. Some 4.9 million people live in besieged or hard-to-reach areas.
With neither side able to inflict a decisive defeat on the other, the international community long ago concluded that only a political solution could end the conflict. The UN Security Council has called for the implementation of the 2012 Geneva Communique, which envisages a transitional governing body with full executive powers "formed on the basis of mutual consent".
Peace talks in early 2014, known as Geneva II, broke down after only two rounds, with the UN blaming the Syrian government's refusal to discuss opposition demands.
A year later, the conflict with IS lent fresh impetus to the search for a political solution in Syria. The US and Russia persuaded representatives of the warring parties to attend "proximity talks" in Geneva in January 2016 to discuss a Security Council-endorsed road map for peace, including a ceasefire and a transitional period ending with elections.
The first round broke down while still in the "preparatory" phase, as government forces launched an offensive around Aleppo. The talks resumed in March 2016, after the US and Russia brokered a nationwide "cessation of hostilities". But they collapsed the following month as fighting intensified.
The fall of Aleppo means the government now controls Syria's four biggest cities. But large parts of the country are still held by other armed groups.
Rebel fighters and allied jihadists are estimated to control about 15% of Syrian territory, according to the Syrian Observatory for Human Rights.
US officials said in early December 2016 that there were 50,000 or more "moderate" rebels, concentrated in the north-western province of Idlib and the western Aleppo countryside.
Rebels also control smaller areas in the central province of Homs, the southern provinces of Deraa and Quneitra, and the eastern Ghouta agricultural belt outside Damascus.
Kurdish forces, who say they support neither the government nor the opposition, meanwhile control much of Syria's border with Turkey, as well as a large part of the country's north-east.
And although they have suffered extensive losses in the past two years, IS militants still hold large parts of central and northern Syria, including the city of Raqqa.

What began as a peaceful uprising against Syria's President Bashar al-Assad five years ago became a full-scale civil war that has left more than 300,000 people dead, devastated the country and drawn in global powers.

